Just get a copy of DVD Decryptor which works fine with Windows XP on most titles. Development on it halted in 2005. If you need to do a newer DVD with better copy protection get a free trial of DVDFab.
Yes, it's called XviD. It's the alter ego of the paid version named DivX, a DVD-R/+R decoder with many other functions, such as DVD player and web player.
